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HelloVehicle.java
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HelloVehicle.java
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/*
Copyright (c) 2020-2024 Stephen Gold
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package jme3utilities.tutorial;
import com.jme3.app.SimpleApplication;
import com.jme3.asset.TextureKey;
import com.jme3.bullet.BulletAppState;
import com.jme3.bullet.PhysicsSpace;
import com.jme3.bullet.collision.shapes.HullCollisionShape;
import com.jme3.bullet.collision.shapes.PlaneCollisionShape;
import com.jme3.bullet.objects.PhysicsBody;
import com.jme3.bullet.objects.PhysicsRigidBody;
import com.jme3.bullet.objects.PhysicsVehicle;
import com.jme3.bullet.util.PlaneDmiListener;
import com.jme3.material.Material;
import com.jme3.material.Materials;
import com.jme3.math.FastMath;
import com.jme3.math.Plane;
import com.jme3.math.Vector3f;
import com.jme3.renderer.Limits;
import com.jme3.texture.Texture;
import java.util.ArrayList;
import java.util.Collection;
/**
* A simple example of vehicle physics.
* <p>
* Builds upon HelloStaticBody.
*
* @author Stephen Gold sgold@sonic.net
*/
public class HelloVehicle extends SimpleApplication {
// *************************************************************************
// fields
/**
* space for physics simulation
*/
private static PhysicsSpace physicsSpace;
// *************************************************************************
// constructors
/**
* Instantiate the HelloVehicle application.
* <p>
* This no-arg constructor was made explicit to avoid javadoc warnings from
* JDK 18+.
*/
public HelloVehicle() {
// do nothing
}
// *************************************************************************
// new methods exposed
/**
* Main entry point for the HelloVehicle application.
*
* @param arguments array of command-line arguments (not null)
*/
public static void main(String[] arguments) {
HelloVehicle application = new HelloVehicle();
application.start();
}
// *************************************************************************
// SimpleApplication methods
/**
* Initialize the application. Invoked once.
*/
@Override
public void simpleInitApp() {
physicsSpace = configurePhysics();
// Create a wedge-shaped vehicle with a low center of gravity.
// The local forward direction is +Z.
float noseZ = 1.4f; // offset from chassis center
float spoilerY = 0.5f; // offset from chassis center
float tailZ = -0.7f; // offset from chassis center
float undercarriageY = -0.1f; // offset from chassis center
float halfWidth = 0.4f;
Collection<Vector3f> cornerLocations = new ArrayList<>(6);
cornerLocations.add(new Vector3f(+halfWidth, undercarriageY, noseZ));
cornerLocations.add(new Vector3f(-halfWidth, undercarriageY, noseZ));
cornerLocations.add(new Vector3f(+halfWidth, undercarriageY, tailZ));
cornerLocations.add(new Vector3f(-halfWidth, undercarriageY, tailZ));
cornerLocations.add(new Vector3f(+halfWidth, spoilerY, tailZ));
cornerLocations.add(new Vector3f(-halfWidth, spoilerY, tailZ));
HullCollisionShape wedgeShape
= new HullCollisionShape(cornerLocations);
float mass = 5f;
PhysicsVehicle vehicle = new PhysicsVehicle(wedgeShape, mass);
vehicle.setSuspensionCompression(6f); // default=0.83
vehicle.setSuspensionDamping(7f); // default=0.88
vehicle.setSuspensionStiffness(150f); // default=5.88
// Add 4 wheels, 2 in the front (for steering) and 2 in the rear.
boolean front = true;
boolean rear = false;
float frontAxisZ = 0.7f * noseZ; // offset from chassis center
float rearAxisZ = 0.8f * tailZ; // offset from chassis center
float radius = 0.3f; // of each tire
float restLength = 0.2f; // of the suspension
float xOffset = 0.9f * halfWidth;
Vector3f axleDirection = new Vector3f(-1f, 0f, 0f);
Vector3f suspensionDirection = new Vector3f(0f, -1f, 0f);
vehicle.addWheel(new Vector3f(-xOffset, 0f, frontAxisZ),
suspensionDirection, axleDirection, restLength, radius, front);
vehicle.addWheel(new Vector3f(xOffset, 0f, frontAxisZ),
suspensionDirection, axleDirection, restLength, radius, front);
vehicle.addWheel(new Vector3f(-xOffset, 0f, rearAxisZ),
suspensionDirection, axleDirection, restLength, radius, rear);
vehicle.addWheel(new Vector3f(xOffset, 0f, rearAxisZ),
suspensionDirection, axleDirection, restLength, radius, rear);
physicsSpace.addCollisionObject(vehicle);
// Apply a steering angle of 6 degrees left (to the front wheels).
vehicle.steer(FastMath.PI / 30f);
// Apply a constant acceleration (to the chassis).
vehicle.accelerate(1f);
// Add a static plane to represent the ground.
float groundY = -radius - 0.35f;
addPlane(groundY);
}
// *************************************************************************
// private methods
/**
* Add a horizontal plane body to the space.
*
* @param y the desired elevation (in physics-space coordinates)
*/
private void addPlane(float y) {
Plane plane = new Plane(Vector3f.UNIT_Y, y);
PlaneCollisionShape shape = new PlaneCollisionShape(plane);
PhysicsRigidBody body
= new PhysicsRigidBody(shape, PhysicsBody.massForStatic);
// Load a repeating tile texture.
String assetPath = "Textures/greenTile.png";
boolean flipY = false;
TextureKey key = new TextureKey(assetPath, flipY);
key.setGenerateMips(true);
Texture texture = assetManager.loadTexture(key);
texture.setMinFilter(Texture.MinFilter.Trilinear);
texture.setWrap(Texture.WrapMode.Repeat);
// Enable anisotropic filtering, to reduce blurring.
Integer maxDegree = renderer.getLimits().get(Limits.TextureAnisotropy);
int degree = (maxDegree == null) ? 1 : Math.min(8, maxDegree);
texture.setAnisotropicFilter(degree);
// Apply a tiled, unshaded debug material to the body.
Material material = new Material(assetManager, Materials.UNSHADED);
material.setTexture("ColorMap", texture);
body.setDebugMaterial(material);
// Generate texture coordinates during debug-mesh initialization.
float tileSize = 1f;
PlaneDmiListener planeDmiListener = new PlaneDmiListener(tileSize);
body.setDebugMeshInitListener(planeDmiListener);
physicsSpace.addCollisionObject(body);
}
/**
* Configure physics during startup.
*
* @return a new instance (not null)
*/
private PhysicsSpace configurePhysics() {
BulletAppState bulletAppState = new BulletAppState();
stateManager.attach(bulletAppState);
bulletAppState.setDebugEnabled(true); // for debug visualization
PhysicsSpace result = bulletAppState.getPhysicsSpace();
return result;
}
}